Source Code for Script script-demo_cyclePlan_py

 1  from joy import * 
 2   
 3 -class CyclePlanApp( JoyApp ): 
 4 -  def __init__(self,*arg,**kw): 
 5      JoyApp.__init__(self,scr={},*arg,**kw) 
 6       
 7 -  def onStart( self ): 
 8      # Define callbacks moving cat to waypoints 
 9      def wayPt1(self): 
10        self.app.scr.sensorUpdate(catX=100,catY=100) 
11      def wayPt2(self): 
12        self.app.scr.sensorUpdate(catX=100,catY=-100) 
13      def wayPt3(self): 
14        self.app.scr.sensorUpdate(catX=-100,catY=-100) 
15      def wayPt4(self): 
16        self.app.scr.sensorUpdate(catX=-100,catY=100) 
17      CYCLE = {  
18        0.0 : wayPt1, 
19        0.2 : wayPt2, 
20        0.6 : wayPt3, 
21        0.8 : wayPt4 
22      } 
23      self.plan = CyclePlan(self, CYCLE) 
24      self.plan.onStart = curry(progress,">>> START") 
25      self.plan.onStop = curry(progress,">>> STOP") 
26      self.freq = 1.0 
27      self.rate = 0.05 
28      self.limit = 1/0.45 
29       
30     
31 -  def onEvent(self, evt): 
32      if evt.type==KEYDOWN: 
33        if evt.key in [ord('q'),27]: # 'q' and [esc] stop program 
34          self.stop() 
35          # 
36        elif evt.key==ord(' '): # [space] stops cycles 
37          self.plan.setPeriod(0) 
38          progress('Period changed to %s' % str(self.plan.period)) 
39          # 
40        elif evt.key in (ord(','),ord('.')): 
41          f = self.freq 
42          # Change frequency up/down in range -limit..limit hz 
43          if evt.key==ord(','): 
44            f = (1-self.rate)*f - self.rate*self.limit 
45          else: 
46            f = (1-self.rate)*f + self.rate*self.limit 
47          if abs(f) < 1.0/self.limit: 
48            self.plan.setPeriod( 0 ) 
49          else: 
50            self.plan.setPeriod( 1/f ) 
51          self.freq = f 
52          progress('Period changed to %g, %.2f Hz' % (self.plan.period,f)) 
53          # 
54        elif evt.key==ord('h'): 
55          progress( "HELP: ',' to decrease/reverse period; '.' opposite; ' ' stop; 'q' end program; 'h' this help; other keys start Plan" ) 
56          # 
57        else: # any other key 
58          progress( "Starting cycles...." ) 
59          self.plan.start() 
60      if evt.type!=TIMEREVENT: 
61        JoyApp.onEvent(self,evt) 
62         
63  if __name__=="__main__": 
64    print """ 
65    Demo of SheetPlan class 
66    ----------------------- 
67     
68    Use this demo with the demo-plans.sb Scratch project. 
69     
70    When any key is pressed, starts a SheetPlan making the  
71    cat move around a square. 
72   
73    The application can be terminated with 'q' or [esc] 
74    """ 
75    import joy 
76    joy.DEBUG[:]=[] 
77    app=CyclePlanApp() 
78    app.run() 
79